JP2007083812A - Control method for preventing partial abrasion of electric brake - Google Patents

Control method for preventing partial abrasion of electric brake Download PDF

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JP2007083812A
JP2007083812A JP2005273498A JP2005273498A JP2007083812A JP 2007083812 A JP2007083812 A JP 2007083812A JP 2005273498 A JP2005273498 A JP 2005273498A JP 2005273498 A JP2005273498 A JP 2005273498A JP 2007083812 A JP2007083812 A JP 2007083812A
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Prior art keywords
piston member
outlet side
inlet side
piston
brake
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JP2005273498A
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JP4768376B2 (en
Inventor
Hideaki Takahashi
秀明 高橋
Kimio Takahashi
公夫 高橋
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Akebono Brake Industry Co Ltd
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Akebono Brake Industry Co Ltd
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Priority to JP2005273498A priority Critical patent/JP4768376B2/en
Priority to US11/523,500 priority patent/US7806241B2/en
Priority to DE102006044461A priority patent/DE102006044461A1/en
Publication of JP2007083812A publication Critical patent/JP2007083812A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
    • F16D2066/003—Position, angle or speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
    • F16D2066/006—Arrangements for monitoring working conditions, e.g. wear, temperature without direct measurement of the quantity monitored, e.g. wear or temperature calculated form force and duration of braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/24—Electric or magnetic using motors

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control method for preventing partial abrasion of an electric brake capable of restraining partial abrasion of a brake pad by preventing rolling-in of the brake pad to rotor rotation in braking. <P>SOLUTION: A pressing point of a piston member to a friction member 11 is formed in two places 7 and 3 on the inlet side and the outlet side in the rotational direction of a rotary body 10. An outlet side piston member 3 controls axial force, and an inlet side piston member 7 controls a position based on a position of the outlet side piston member 3, and capacity of a motor can be reduced by dispersing pressing force. The partial abrasion of the brake pad 11 can be prevented by effectively preventing generation of excessive axial force in the friction member 11 to a rolling-in load generated on the inlet side by controlling a position of the inlet side piston member based on axial force control of the outlet side piston member 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキに関する。   The present invention relates to an electric brake that converts a rotational motion of a motor fixed to a brake device into a linear motion, advances a piston member in the brake device, and presses a friction member against a rotating body to perform braking.

従来、自動車等の車両においてはガソリン等を燃料とする内燃機関が高出力が得られる動力源として多用されてきたが、近年では、環境対策や省燃費の観点から、電気自動車やハイブリッドエンジンとして電動モータが主動力ないし補助動力として採用されるようになった、そのようなことから、電力を供給された電動モータを駆動源とした電動ブレーキも多用されるようになっている。電動モータを駆動源とした電動ブレーキでは、一般的に、モータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行うように構成されている。そのために、電動ブレーキでは直線運動に変換されたピストン部材等を介した摩擦部材のブレーキロータへの押圧力すなわち移動量は、電動モータの回転量を解析することで制御することができる。   Conventionally, in vehicles such as automobiles, an internal combustion engine using gasoline or the like as a fuel has been frequently used as a power source for obtaining high output. However, in recent years, from the viewpoint of environmental measures and fuel efficiency, electric vehicles and hybrid engines are Since motors have come to be used as main power or auxiliary power, electric brakes using an electric motor supplied with electric power as a drive source are also frequently used. In an electric brake using an electric motor as a drive source, generally, the rotational motion of the motor is converted into a linear motion, the piston member in the brake device is advanced, and the friction member is pressed against the rotating body to perform braking. It is configured. Therefore, in the electric brake, the pressing force, that is, the movement amount of the friction member to the brake rotor via the piston member or the like converted into the linear motion can be controlled by analyzing the rotation amount of the electric motor.

一般に、制動時には、ブレーキロータ等の回転体に対してピストン部材等を介して摩擦部材を押し付けることになるが、その際に、ピストン部材等により摩擦部材を押圧するには、摩擦部材を構成するブレーキパッドの裏面に装着されたプレッシャプレートをピンポイントにて押圧することになる。そのようなことから、プレッシャプレートが反り返ってブレーキパッドがブレーキロータ等の回転体に均一に接触せず、ブレーキパッドやブレーキロータの偏摩耗を招く虞れがあった。そこで、電動モータを採用した電動ブレーキにあっても、ブレーキパッド等の偏摩耗を防止する技術が提案された（例えば下記特許文献１参照）。
特開２０００−７４１０６号公報（特許請求の範囲参照） Generally, at the time of braking, the friction member is pressed against a rotating body such as a brake rotor via a piston member or the like. At this time, in order to press the friction member by the piston member or the like, the friction member is configured. The pressure plate mounted on the back surface of the brake pad is pressed at a pin point. For this reason, the pressure plate is warped and the brake pad does not uniformly contact the rotating body such as the brake rotor, which may cause uneven wear of the brake pad and the brake rotor. Therefore, even in an electric brake employing an electric motor, a technique for preventing uneven wear of a brake pad or the like has been proposed (see, for example, Patent Document 1 below).
JP 2000-74106 A (refer to the claims)

前記特許文献１に開示された電動式ブレーキ装置を図４を用いて簡単に説明する。ブレーキパッド７４と一体のプレッシャプレート７８を、スピンドル７２との当接面が凸状曲面部７８ａとなるように形成し、該凸状曲面部７８ａをスピンドル７２との当接部位が球面状の大曲率部７８ｂと、凸状曲面部７８ａの当接部位以外の部位が前記大曲率部７８ｂの曲率に比して小さな曲率を有する小曲率部７８ｃとから構成されるように形成する。大曲率部７８ｂの中心がスピンドル７２の軸上となるようにプレッシャプレート７８をマウンティングブラケットに固定したものである。   The electric brake device disclosed in Patent Document 1 will be briefly described with reference to FIG. A pressure plate 78 integrated with the brake pad 74 is formed so that the contact surface with the spindle 72 is a convex curved surface portion 78a, and the convex curved surface portion 78a is large with a spherical surface at the contact portion with the spindle 72. The curved portion 78b and the portion other than the contact portion of the convex curved surface portion 78a are formed to include a small curvature portion 78c having a smaller curvature than the curvature of the large curvature portion 78b. The pressure plate 78 is fixed to the mounting bracket so that the center of the large curvature portion 78b is on the axis of the spindle 72.

このような構成によって、電動モータを動力源として制動力を得る電動式ブレーキ装置において、ブレーキパッドの押圧方向への反り返りを抑制することで、ブレーキパッド７４の偏摩耗を防止できることとなった。しかしながら、このようにブレーキパッド７４のプレッシャプレート７８に対する押圧方向への反り返りを抑制することができても、通常発生するところの、回転するブレーキロータ４２に対してブレーキパッド７４が押圧される際に発生する巻込み荷重については、何らの考慮はなされていない。そのため、ブレーキパッドの偏摩耗を確実に防止するには依然として不充分であった。   With such a configuration, in an electric brake device that obtains a braking force using an electric motor as a power source, uneven wear of the brake pad 74 can be prevented by suppressing warping of the brake pad in the pressing direction. However, even if it is possible to suppress the warping of the brake pad 74 in the pressing direction with respect to the pressure plate 78 in this way, when the brake pad 74 is pressed against the rotating brake rotor 42 that normally occurs, the brake pad 74 is pressed. No consideration is given to the entrainment load generated. For this reason, it is still insufficient to reliably prevent uneven wear of the brake pads.

そこで本発明は、前記従来の電動ブレーキ装置の課題を解決して、制動時のロータ回転へのブレーキパッドの巻込みを防止して、ブレーキパッドの偏摩耗を抑制できる電動ブレーキの偏摩耗を防止する制御方法を提供することを目的とする。   Therefore, the present invention solves the problems of the conventional electric brake device, prevents the brake pad from being caught in the rotor rotation during braking, and prevents the brake pad from wearing unevenly. An object of the present invention is to provide a control method.

このため本発明は、ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキにおいて、摩擦部材へのピストン部材の押圧点を、回転体の回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材は軸力制御を行い、入口側のピストン部材は前記出口側のピストン部材の位置に基づいた位置制御を行うことを特徴とする。また本発明は、ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキにおいて、摩擦部材へのピストン部材の押圧点を、回転体の両面において回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材は軸力制御を行い、入口側のピストン部材は前記出口側のピストン部材の位置に基づいた位置制御を行うことを特徴とする。また本発明は、前記ピストン部材の位置検出にモータ内部の磁極位置検出用センサを用いたことを特徴とするもので、これらを課題解決のための手段とする。   For this reason, the present invention relates to a friction member in an electric brake that converts a rotational motion of a motor fixed to a brake device into a linear motion, advances a piston member in the brake device, and presses the friction member against a rotating body to perform braking. The piston member is pressed at two points on the inlet side and the outlet side with respect to the rotation direction of the rotating body, the piston member on the outlet side performs axial force control, and the piston member on the inlet side is the outlet Position control based on the position of the piston member on the side is performed. The present invention also relates to an electric brake that converts a rotational motion of a motor fixed to a brake device into a linear motion to advance a piston member in the brake device and presses the friction member against a rotating body to perform braking. The pressure points of the piston member are two places on the both sides of the rotating body on the inlet side and the outlet side with respect to the rotation direction, the piston member on the outlet side performs axial force control, and the piston member on the inlet side Position control is performed based on the position of the piston member on the outlet side. The present invention is characterized in that a magnetic pole position detection sensor in the motor is used for detecting the position of the piston member, and these are used as means for solving the problems.

本発明によれば、ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキにおいて、摩擦部材へのピストン部材の押圧点を、回転体の回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材は軸力制御を行い、入口側のピストン部材は前記出口側のピストン部材の位置に基づいた位置制御を行うことにより、摩擦部材へのピストン部材の押圧点を回転体の回転方向に対して入口側と出口側の２か所としたので、押圧力を分散させてモータの容量を小さくできるとともに、出口側のピストン部材の軸力制御に基づいた入口側のピストン部材の位置制御を行うことで、入口側に発生する巻込み荷重に対して摩擦部材に過度の軸力を発生させることを有効に防止できて、ブレーキパッドの偏摩耗を防止することができる。   According to the present invention, in the electric brake that converts the rotational motion of the motor fixed to the brake device into a linear motion to advance the piston member in the brake device and presses the friction member against the rotating body to perform braking, the friction member The piston member is pressed at two points on the inlet side and the outlet side with respect to the rotation direction of the rotating body, the piston member on the outlet side performs axial force control, and the piston member on the inlet side is the outlet By performing position control based on the position of the piston member on the side, the pressing points of the piston member to the friction member are set at two locations on the inlet side and the outlet side with respect to the rotation direction of the rotating body, so the pressing force is The capacity of the motor can be reduced by dispersing it, and the position of the piston member on the inlet side is controlled based on the axial force control of the piston member on the outlet side. To be able effectively prevented to generate an excessive axial force, it is possible to prevent uneven wear of the brake pad.

また、ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキにおいて、摩擦部材へのピストン部材の押圧点を、回転体の両面において回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材は軸力制御を行い、入口側のピストン部材は前記出口側のピストン部材の位置に基づいた位置制御を行うことにより、回転体の両面からのブレーキパッド等の摩擦部材を当接してさらに均一かつ確実な制動が可能な形式の電動ブレーキに対しても、前述同様に、押圧力をさらに分散させてモータの容量を小さくできるとともに、出口側のピストン部材の軸力制御に基づいた入口側のピストン部材の位置制御を行うことで、入口側に発生する巻込み荷重に対して摩擦部材に過度の軸力を発生させることを有効に防止できて、ブレーキパッドの偏摩耗を防止することができる。   In addition, in an electric brake that converts the rotational motion of the motor fixed to the brake device into a linear motion to advance the piston member in the brake device and presses the friction member against the rotating body to perform braking, the piston member to the friction member The pressure points of the rotary body are two places on the both sides of the rotating body on the inlet side and the outlet side with respect to the rotation direction, the piston member on the outlet side performs axial force control, and the piston member on the inlet side The same applies to the electric brake of the type in which the friction control such as the brake pad from both surfaces of the rotating body can be brought into contact with each other to perform more uniform and reliable braking by performing the position control based on the position of the piston member. In addition, it is possible to further reduce the capacity of the motor by further distributing the pressing force, and to control the position of the piston member on the inlet side based on the axial force control of the piston member on the outlet side. Can be the friction member against winding load generated on the inlet side can be effectively prevented from generating excessive axial force, to prevent uneven wear of the brake pad.

さらに、前記ピストン部材の位置検出にモータ内部の磁極位置検出用センサを用いた場合は、回転角度検出センサ等のレゾルバやそれに代わる同様の格別のセンサが不要となり、部品点数が削減されて構造が簡素化される。   Further, when a magnetic pole position detection sensor in the motor is used for detecting the position of the piston member, a resolver such as a rotation angle detection sensor or a similar special sensor is not required, and the number of parts is reduced and the structure is reduced. Simplified.

以下本発明を実施するための最良の形態を図面に基づいて説明する。図１は本発明の電動ブレーキの偏摩耗を防止する制御方法の第１実施例を示す全体構造図、図２はその制御フローチャート図である。図３は本発明の電動ブレーキの偏摩耗を防止する制御方法の第２実施例を示す要部構造図である。   The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is an overall structural view showing a first embodiment of a control method for preventing uneven wear of an electric brake according to the present invention, and FIG. 2 is a control flow chart thereof. FIG. 3 is a main part structural diagram showing a second embodiment of the control method for preventing uneven wear of the electric brake of the present invention.

本発明の電動ブレーキの偏摩耗を防止する制御方法傾斜センサの基本的な構成は、図１に示すように、ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材１１を回転体１０に押圧して制動を行う電動ブレーキにおいて、摩擦部材１１へのピストン部材３、７の押圧点を、回転体１０の回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材３は軸力制御を行い、入口側のピストン部材７は前記出口側のピストン部材３の位置に基づいた位置制御を行うことを特徴とする。   1. Control Method for Preventing Uneven Wear of Electric Brake of the Present Invention The basic configuration of the tilt sensor is as shown in FIG. 1, in which the rotational motion of the motor fixed to the brake device is converted into linear motion, and the piston in the brake device In the electric brake in which the member is advanced and the friction member 11 is pressed against the rotating body 10 to perform braking, the pressing points of the piston members 3 and 7 to the friction member 11 are set to the inlet side with respect to the rotation direction of the rotating body 10. The outlet side piston member 3 performs axial force control, and the inlet side piston member 7 performs position control based on the position of the outlet side piston member 3. To do.

本発明のブレーキ装置は、電気的エネルギーを動力源とした電動モータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキに関する。以下に動作とともにその構造を説明する。ペダル１５の踏動が踏力センサ１６により検出されると、所定の踏力Ｆ’が制御器ＥＣＵ１４に入力される。一方、ブレーキ装置のボディ１３には２つのブラシレス電動モータ１、５が固定されている。これらのモータ１、５の回転運動は、ギヤ列を介して２つのピストン３、７の直線運動に変換されて、回転体であるブレーキロータ１０の回転方向に対して入口側と出口側の２か所にてブレーキパッド１１を押圧する。   The brake device of the present invention converts the rotational motion of an electric motor using electric energy as a power source into linear motion, advances the piston member in the brake device, and presses the friction member against the rotating body to perform braking. Regarding brakes. The structure will be described along with the operation. When the depression of the pedal 15 is detected by the depression force sensor 16, a predetermined depression force F ′ is input to the controller ECU 14. On the other hand, two brushless electric motors 1 and 5 are fixed to the body 13 of the brake device. The rotational motions of these motors 1 and 5 are converted into linear motions of the two pistons 3 and 7 through a gear train, and the two on the inlet side and the outlet side with respect to the rotational direction of the brake rotor 10 that is a rotating body. The brake pad 11 is pressed at a place.

各モータのギヤ列を介したピストンの動作について詳述すると、回転体であるブレーキロータ１０の回転方向に対して出口側に位置する出口側ブラシレスモータ１がボディ１３に固定される、その軸に固定された小径の出口側ギヤ２には、出口側ブラシレスモータ１の軸と平行に配置された出口側ピストン３の軸３’に固定された大径のギヤ２’が噛合されている。該大径のギヤ２’の回転によりその軸３’とボディ１３との間のねじ機構（図示省略）により、前記出口側ブラシレスモータ１の回転運動が大径のギヤ２’の軸３’の直線運動に変換される。この軸３’の直線運動により出口側ピストン３がブレーキパッド１１の出口側部分を押圧する。   The operation of the piston through the gear train of each motor will be described in detail. The outlet-side brushless motor 1 positioned on the outlet side with respect to the rotation direction of the brake rotor 10 that is a rotating body is fixed to the body 13. The fixed small-diameter outlet-side gear 2 is meshed with a large-diameter gear 2 ′ fixed to the shaft 3 ′ of the outlet-side piston 3 arranged in parallel with the shaft of the outlet-side brushless motor 1. Due to the rotation of the large-diameter gear 2 ′, the screw mechanism (not shown) between the shaft 3 ′ and the body 13 causes the rotational movement of the outlet-side brushless motor 1 to move on the shaft 3 ′ of the large-diameter gear 2 ′. Converted to linear motion. The outlet side piston 3 presses the outlet side portion of the brake pad 11 by the linear movement of the shaft 3 ′.

回転体であるブレーキロータ１０の回転方向に対して入口側に位置する入口側ブラシレスモータ５がボディ１３に固定される、その軸に固定された小径の出口側ギヤ６には、入口側ブラシレスモータ５の軸と平行に配置された入口側ピストン７の軸７’に固定された大径のギヤ６’が噛合されている。該大径のギヤ６’の回転によりその軸７’とボディ１３との間のねじ機構（図示省略）により、前記入口側ブラシレスモータ５の回転運動が大径のギヤ６’の軸７’の直線運動に変換される。この軸７’の直線運動により入口側ピストン７がブレーキパッド１１の入口側部分を押圧する。回転体であるブレーキロータ１０およびその両面に対向配設されたブレーキパッド１１、１１はブレーキ装置のサポート１２に支持される。   The inlet-side brushless motor 5 positioned on the inlet side with respect to the rotation direction of the brake rotor 10 that is a rotating body is fixed to the body 13. The small-diameter outlet-side gear 6 fixed to the shaft includes an inlet-side brushless motor. A large-diameter gear 6 ′ fixed to the shaft 7 ′ of the inlet side piston 7 arranged in parallel with the shaft 5 is meshed. Due to the rotation of the large-diameter gear 6 ′, a screw mechanism (not shown) between the shaft 7 ′ and the body 13 causes the rotational movement of the inlet-side brushless motor 5 to be applied to the shaft 7 ′ of the large-diameter gear 6 ′. Converted to linear motion. The inlet side piston 7 presses the inlet side portion of the brake pad 11 by the linear movement of the shaft 7 ′. The brake rotor 10 that is a rotating body and brake pads 11 and 11 that are disposed to face both sides of the brake rotor 10 are supported by a support 12 of the brake device.

前記出口側ピストン３の軸３’に関して大径のギヤ２’の背面側（ピストン３と反対側）には、ピストン３の押圧力の反力を検出する押圧センサ９が設置されるとともに、直線運動に変換されたピストン３の移動量に対応する出口側ピストン３の軸３’の位置すなわち回転角度を検出する出口側レゾルバ（回転角度センサ）４が配設される。また、前記入口側ピストン７の軸７’に関して大径のギヤ６’の背面側には、直線運動に変換されたピストン７の移動量に対応する入口側ピストン７の軸７’の位置すなわち回転角度を検出する入口側レゾルバ（回転角度センサ）８が配設される。   A pressure sensor 9 for detecting the reaction force of the pressing force of the piston 3 is installed on the back side (opposite side of the piston 3) of the large-diameter gear 2 'with respect to the shaft 3' of the outlet side piston 3. An exit-side resolver (rotation angle sensor) 4 that detects the position of the shaft 3 ′ of the exit-side piston 3 corresponding to the movement amount of the piston 3 converted into motion, that is, the rotation angle, is provided. Further, on the back side of the large-diameter gear 6 ′ with respect to the shaft 7 ′ of the inlet side piston 7, the position of the shaft 7 ′ of the inlet side piston 7 corresponding to the movement amount of the piston 7 converted into linear motion, that is, rotation. An inlet-side resolver (rotation angle sensor) 8 that detects an angle is provided.

所定の踏力Ｆ’が入力された前記制御器ＥＣＵ１４から、踏力Ｆ’に応じた出口側モータへの操作電圧Ｅ0 が出力される。該操作電圧Ｅ0 に応じて出口側ブラシレスモータ1 が所定量だけ回転する。減速ギヤ列２、２’を介して大径のギヤ２’の軸３’を回転駆動すると、軸３’は所定の回転角度がレゾルバ４により検出されるとともに、ボディ１３との間のねじ機構により軸３’の直線運動に変換されて出口側ピストン３がブレーキパッド１１の出口側を押圧して、押圧センサ９により押圧力が検出される。   The controller ECU 14 to which a predetermined pedaling force F 'is input outputs an operation voltage E0 to the outlet side motor corresponding to the pedaling force F'. The exit side brushless motor 1 rotates by a predetermined amount in accordance with the operation voltage E0. When the shaft 3 ′ of the large-diameter gear 2 ′ is rotationally driven through the reduction gear trains 2, 2 ′, a predetermined rotation angle of the shaft 3 ′ is detected by the resolver 4 and a screw mechanism between the body 13 and the shaft 3 ′ is detected. Is converted into a linear motion of the shaft 3 ′, the outlet side piston 3 presses the outlet side of the brake pad 11, and the pressing force is detected by the pressing sensor 9.

本発明では、出口側ピストン３の所定の押圧力に対応した軸力値Ｆを含む軸３’の位置すなわち出口側回転角度の検出値θ0 を前記ＥＣＵ１４にフィードバックして、出口側ピストン３を軸力制御するとともに、入口側ピストン７については、前記出口側ピストン３の軸力値Ｆおよび出口側回転角度の検出値θ0 に基づいて位置制御（回転角度制御）を行うものである。その際、入口側ピストン７の軸７’に配設した入口側レゾルバ８によって検出した入口側回転角度θ1 をフィードバックして得られた制御器ＥＣＵ１４からの入口側モータ操作電圧Ｅ1 により回転角度制御がなされる。   In the present invention, the position of the shaft 3 ′ including the axial force value F corresponding to the predetermined pressing force of the outlet side piston 3, that is, the detected value θ 0 of the outlet side rotation angle is fed back to the ECU 14, and the outlet side piston 3 is pivoted. In addition to force control, the inlet side piston 7 is subjected to position control (rotation angle control) based on the axial force value F of the outlet side piston 3 and the detected value θ0 of the outlet side rotation angle. At that time, the rotation angle control is performed by the inlet side motor operation voltage E1 from the controller ECU 14 obtained by feeding back the inlet side rotation angle θ1 detected by the inlet side resolver 8 disposed on the shaft 7 ′ of the inlet side piston 7. Made.

図２は本発明の制御方法の制御フローチャート図である。図１を参照しつつ、ステップ１にてペダル１５踏動が検出されると（ペダル踏力Ｆ’＞０）と、踏力センサ１６からペダル踏力Ｆ’が制御器ＥＣＵ１４に入力される。ステップ２に移行して、押圧センサ９から出力される軸力値Ｆが制御器ＥＣＵ１４にフィードバックされる。ステップ３では、制御器ＥＣＵ１４内にて、ペダル踏力Ｆ’と押圧センサ９から出力される軸力値Ｆに基づき、出口側モータ操作電圧Ｅ0 を算出する。操作電圧Ｅ0 の算出例としては、一般的なＰＩＤ制御式である。

Ｅ0 ＝比例ゲイン×（Ｆ’−Ｆ）＋積分ゲイン×∫（Ｆ’−Ｆ）＋微分ゲイン×ｄ（Ｆ’−Ｆ）／ｄｔが採用される。
FIG. 2 is a control flowchart of the control method of the present invention. Referring to FIG. 1, when the pedal 15 is detected to be depressed in step 1 (pedal depression force F ′> 0), the pedal depression force F ′ is input from the pedal force sensor 16 to the controller ECU 14. In step 2, the axial force value F output from the pressure sensor 9 is fed back to the controller ECU 14. In step 3, the outlet side motor operating voltage E 0 is calculated in the controller ECU 14 based on the pedal depression force F ′ and the axial force value F output from the pressing sensor 9. An example of calculating the operating voltage E0 is a general PID control equation.

E 0 = proportional gain × (F′−F) + integral gain × ∫ (F′−F) + differential gain × d (F′−F) / dt is adopted.

ステップ４では、制御器ＥＣＵ１４から出口側ブラシレスモータ１の出口側モータ操作電圧Ｅ0 を出力する。以上のステップ１〜４により、出口側ピストン３は押圧センサ９により軸力値をフィードバックした軸力制御が行われる。   In step 4, the controller ECU 14 outputs the outlet side motor operating voltage E0 of the outlet side brushless motor 1. Through the above steps 1 to 4, the outlet side piston 3 performs axial force control in which the axial force value is fed back by the pressing sensor 9.

ステップ５では、出口側レゾルバ４により出口側回転角度θ0 を検出する。ステップ６に移行し、入口側レゾルバ８により入口側回転角度θ1 が制御器ＥＣＵ１４にフィードバックされる。ステップ７では制御器ＥＣＵ１４内にて、出口側回転角度θ0 と入口側回転角度θ1 に基づき、入口側モータ操作電圧Ｅ1 を算出する。操作電圧Ｅ1 の算出例としては、一般的なＰＩＤ制御式である。

Ｅ1 ＝比例ゲイン×（θ0 −θ1)＋積分ゲイン×∫（θ0 −θ1 ）＋微分ゲイン×ｄ（θ0 −θ1 ）／ｄｔが採用される。
In step 5, the exit side rotation angle θ 0 is detected by the exit side resolver 4. In step 6, the inlet side resolver 8 feeds back the inlet side rotation angle θ1 to the controller ECU14. In step 7, the controller ECU 14 calculates the inlet side motor operating voltage E1 based on the outlet side rotation angle θ0 and the inlet side rotation angle θ1. An example of calculating the operating voltage E1 is a general PID control equation.

E1 = proportional gain × (θ0−θ1) + integral gain × ∫ (θ0−θ1) + differential gain × d (θ0−θ1) / dt is adopted.

ステップ８では、制御器ＥＣＵ１４から出口側ブラシレスモータ５に入口側モータ操作電圧Ｅ1 を出力する。以上のステップ５〜８により、入口側ピストン７は、出口側ピストン３の位置に基づいた位置制御が行われ、制動時には、ブレーキパッド１１のロータ１０の回転方向に対して入口側に、入口側ピストン７からの軸力と、ロータ１０に巻き込まれようとする力が加わるものの、入口側ピストン７は位置制御されているために、必要以上の過度の軸力が加わることがなく、偏摩耗を有効に防止することができる。   In step 8, the controller ECU 14 outputs the inlet side motor operating voltage E1 to the outlet side brushless motor 5. Through the above steps 5 to 8, the position of the inlet side piston 7 is controlled based on the position of the outlet side piston 3, and at the time of braking, the inlet side piston 7 is placed on the inlet side with respect to the rotational direction of the rotor 10 of the brake pad 11. Although the axial force from the piston 7 and the force to be caught in the rotor 10 are applied, the position of the inlet side piston 7 is controlled, so that excessive excessive axial force is not applied and uneven wear is prevented. It can be effectively prevented.

図３は本発明の電動ブレーキの偏摩耗を防止する制御方法の第２実施例を示す要部構造図である。本実施例のものは、摩擦部材であるブレーキパッド１１へのピストン部材３、７の押圧点を、回転体であるブレーキロータ１０の両面において回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材３、３は軸力制御を行い、入口側のピストン部材７、７は前記出口側のピストン部材３、３の位置に基づいた位置制御を行うことにより、ブレーキロータ１０の両面からのブレーキパッド等の摩擦部材を当接してさらに均一かつ確実な制動が可能な形式の電動ブレーキに対しても、前述同様に、押圧力をさらに分散させてモータの容量を小さくできるとともに、出口側のピストン部材３、３の軸力制御に基づいた入口側７、７の位置制御を行うことで、入口側に発生する巻込み荷重に対してブレーキパッド１１に過度の軸力を発生させることを有効に防止できて、ブレーキパッド１１の偏摩耗を防止することができる。なお、ブレーキペダルの踏力の入力と制御器ＥＣＵ１４とモータ１、５および押圧センサ９ならびに各レゾルバ４、８との関連構成は前記図１の第１実施例のものと同様である。   FIG. 3 is a main part structural diagram showing a second embodiment of the control method for preventing uneven wear of the electric brake of the present invention. In this embodiment, the pressing points of the piston members 3 and 7 to the brake pad 11 that is a friction member are arranged at two locations on the both sides of the rotation side of the brake rotor 10 that is a rotating body, the inlet side and the outlet side. In addition, the piston members 3 and 3 on the outlet side perform axial force control, and the piston members 7 and 7 on the inlet side perform position control based on the position of the piston members 3 and 3 on the outlet side, thereby Similarly to the above, for the electric brake of the type in which a friction member such as a brake pad from both sides of the rotor 10 is brought into contact to allow more uniform and reliable braking, the pressing force is further dispersed to reduce the capacity of the motor. In addition, the position of the inlet sides 7 and 7 is controlled based on the axial force control of the piston members 3 and 3 on the outlet side. And can be effectively prevented from generating an axial force, it is possible to prevent uneven wear of the brake pad 11. The input configuration of the brake pedal force, the controller ECU 14, the motors 1 and 5, the pressing sensor 9, and the resolvers 4 and 8 are the same as those in the first embodiment shown in FIG.

さらに、前記ピストン部材３、７の位置検出のために、モータ内部の磁極位置検出用センサを用いることもできる。この場合は、回転角度検出センサ等のレゾルバ４、８やそれに代わる同様の格別のセンサが不要となり、部品点数が削減されて構造を簡素化することができる。   Further, a magnetic pole position detecting sensor inside the motor can be used for detecting the position of the piston members 3 and 7. In this case, the resolvers 4 and 8 such as a rotation angle detection sensor and similar special sensors are not required, and the number of parts can be reduced and the structure can be simplified.

以上、本発明の実施例について説明してきたが、本発明の趣旨の範囲内で、ペダルの踏動を検出する踏力センサの形式、ブレーキ装置へのモータの固定形態、モータの形式、回転運動の直線運動への変換形態、ピストン部材の形状、形式、摩擦部材および回転体の形状、形式、摩擦部材へのピストン部材による押圧形態（片面および両面）、出口側のピストン部材の軸力制御形態（軸力値に応じた制御器によるフィードバック制御形態）、入口側のピストン部材の位置制御形態（出口側ピストン部材の位置に基づいた制御器によるフィードバック位置制御形態）、ピストン部材の位置検出形態（モータ内部の磁極位置検出用センサによってもよい）、軸力値検出センサおよびピストンの回転角度検出センサの形式等については適宜選定できる。実施例に記載の諸元はあらゆる点で単なる例示に過ぎず限定的に解釈してはならない。   As described above, the embodiments of the present invention have been described. However, within the scope of the present invention, the type of pedal force sensor for detecting pedal depression, the manner in which the motor is fixed to the brake device, the type of motor, the rotational motion Conversion form to linear motion, shape of piston member, form, shape of friction member and rotating body, form, pressure form by piston member to friction member (single side and double side), axial force control form of piston member on outlet side ( Feedback control form by controller according to axial force value), position control form of piston member on inlet side (feedback position control form by controller based on position of outlet side piston member), position detection form of piston member (motor The internal magnetic pole position detection sensor may be used), the types of the axial force value detection sensor and the piston rotation angle detection sensor, etc. can be selected as appropriate.The specifications described in the examples are merely examples in all respects and should not be interpreted in a limited manner.

本発明の電動ブレーキの偏摩耗を防止する制御方法の第１実施例を示す全体構造図である。1 is an overall structural diagram showing a first embodiment of a control method for preventing uneven wear of an electric brake according to the present invention. 同、その制御フローチャート図である。It is the control flowchart figure same as the above. 本発明の電動ブレーキの偏摩耗を防止する制御方法の第２実施例を示す要部構造図である。It is a principal part structure figure which shows the 2nd Example of the control method which prevents the uneven wear of the electric brake of this invention. 従来の電動式ブレーキ装置の要部断面およびブレーキパッドの正面図である。It is a principal part cross section of the conventional electric brake device, and a front view of a brake pad.

符号の説明Explanation of symbols

１ 出口側モータ
２ 出口側ギヤ
２’ 大径のギヤ
３ 出口側ピストン
３’ 軸
４ 出口側回転角度センサ
５ 入口側モータ
６ 入口側ギヤ
６’ 大径のギヤ
７ 入口側ピストン
７’ 軸
８ 入口側回転角度センサ
９ 押圧センサ
１０ ブレーキロータ
１１ ブレーキパッド
１２ サポ−ト部材
１３ ボディ
１４ 制御器
１５ ブレーキペダル
１６ 踏力センサ
DESCRIPTION OF SYMBOLS 1 Outlet side motor 2 Outlet side gear 2 'Large diameter gear 3 Outlet side piston 3' shaft 4 Outlet side rotation angle sensor 5 Inlet side motor 6 Inlet side gear 6 'Large diameter gear 7 Inlet side piston 7' shaft 8 Inlet Side rotation angle sensor 9 Press sensor 10 Brake rotor 11 Brake pad 12 Support member 13 Body 14 Controller 15 Brake pedal 16 Treading force sensor

Claims (3)

ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキにおいて、摩擦部材へのピストン部材の押圧点を、回転体の回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材は軸力制御を行い、入口側のピストン部材は前記出口側のピストン部材の位置に基づいた位置制御を行うことを特徴とする電動ブレーキの偏摩耗を防止する制御方法。 In the electric brake that converts the rotational motion of the motor fixed to the brake device into a linear motion to advance the piston member in the brake device and presses the friction member against the rotating body for braking, the piston member is pressed against the friction member There are two points on the inlet side and the outlet side with respect to the rotation direction of the rotating body, the piston member on the outlet side performs axial force control, and the piston member on the inlet side is the position of the piston member on the outlet side. A control method for preventing uneven wear of an electric brake, wherein position control based on the control is performed. ブレーキ装置に固定したモータの回転運動を直線運動に変換してブレーキ装置内のピストン部材を前進させ、摩擦部材を回転体に押圧して制動を行う電動ブレーキにおいて、摩擦部材へのピストン部材の押圧点を、回転体の両面において回転方向に対して入口側と出口側の２か所とするとともに、出口側のピストン部材は軸力制御を行い、入口側のピストン部材は前記出口側のピストン部材の位置に基づいた位置制御を行うことを特徴とする電動ブレーキの偏摩耗を防止する制御方法。 In the electric brake that converts the rotational motion of the motor fixed to the brake device into a linear motion to advance the piston member in the brake device and presses the friction member against the rotating body for braking, the piston member is pressed against the friction member The two points on the both sides of the rotating body are the inlet side and the outlet side with respect to the rotation direction, the piston member on the outlet side performs axial force control, and the piston member on the inlet side is the piston member on the outlet side. A control method for preventing uneven wear of an electric brake, wherein position control is performed based on the position of the electric brake. 前記ピストン部材の位置検出にモータ内部の磁極位置検出用センサを用いたことを特徴とする請求項１または２に記載の電動ブレーキの偏摩耗を防止する制御方法。
The control method for preventing uneven wear of the electric brake according to claim 1 or 2, wherein a magnetic pole position detection sensor inside the motor is used for detecting the position of the piston member.
JP2005273498A 2005-09-21 2005-09-21 Control method to prevent uneven wear of electric brake Expired - Fee Related JP4768376B2 (en)

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JP2005273498A JP4768376B2 (en) 2005-09-21 2005-09-21 Control method to prevent uneven wear of electric brake
US11/523,500 US7806241B2 (en) 2005-09-21 2006-09-20 Electric brake
DE102006044461A DE102006044461A1 (en) 2005-09-21 2006-09-21 Electric brake

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